<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
	.KEYW {color: #933;}
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	.NUMB {color: #393;}
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	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
<span class='line'>  2</span>  * @author Brandon Alexander - baalexander@gmail.com
<span class='line'>  3</span>  */</span><span class="WHIT">
<span class='line'>  4</span> 
<span class='line'>  5</span> </span><span class="COMM">/**
<span class='line'>  6</span>  * Publish and/or subscribe to a topic in ROS.
<span class='line'>  7</span>  *
<span class='line'>  8</span>  * Emits the following events:
<span class='line'>  9</span>  *  * 'warning' - if there are any warning during the Topic creation
<span class='line'> 10</span>  *  * 'message' - the message data from rosbridge
<span class='line'> 11</span>  *
<span class='line'> 12</span>  * @constructor
<span class='line'> 13</span>  * @param options - object with following keys:
<span class='line'> 14</span>  *   * ros - the ROSLIB.Ros connection handle
<span class='line'> 15</span>  *   * name - the topic name, like /cmd_vel
<span class='line'> 16</span>  *   * messageType - the message type, like 'std_msgs/String'
<span class='line'> 17</span>  *   * compression - the type of compression to use, like 'png'
<span class='line'> 18</span>  *   * throttle_rate - the rate at which to throttle the topics
<span class='line'> 19</span>  */</span><span class="WHIT">
<span class='line'> 20</span> </span><span class="NAME">ROSLIB.Topic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.name</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">this.messageType</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.messageType</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.isAdvertised</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.compression</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'none'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 28</span> 
<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="COMM">// Check for valid compression types</span><span class="WHIT">
<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">&&</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="STRN">'png'</span><span class="WHIT"> </span><span class="PUNC">&&</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="STRN">'none'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 31</span> </span><span class="WHIT">    </span><span class="NAME">this.emit</span><span class="PUNC">(</span><span class="STRN">'warning'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="WHIT">
<span class='line'> 32</span> </span><span class="WHIT">        </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">' compression is not supported. No comression will be used.'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 33</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 34</span> 
<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="COMM">// Check if throttle rate is negative</span><span class="WHIT">
<span class='line'> 36</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">&lt;</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 37</span> </span><span class="WHIT">    </span><span class="NAME">this.emit</span><span class="PUNC">(</span><span class="STRN">'warning'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">' is not allowed. Set to 0'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 38</span> </span><span class="WHIT">    </span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 39</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 40</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 41</span> </span><span class="NAME">ROSLIB.Topic.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 42</span> 
<span class='line'> 43</span> </span><span class="COMM">/**
<span class='line'> 44</span>  * Every time a message is published for the given topic, the callback
<span class='line'> 45</span>  * will be called with the message object.
<span class='line'> 46</span>  *
<span class='line'> 47</span>  * @param callback - function with the following params:
<span class='line'> 48</span>  *   * message - the published message
<span class='line'> 49</span>  */</span><span class="WHIT">
<span class='line'> 50</span> </span><span class="NAME">ROSLIB.Topic.prototype.subscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 51</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 52</span> 
<span class='line'> 53</span> </span><span class="WHIT">  </span><span class="NAME">this.on</span><span class="PUNC">(</span><span class="STRN">'message'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 54</span> </span><span class="WHIT">    </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 55</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 56</span> 
<span class='line'> 57</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.on</span><span class="PUNC">(</span><span class="NAME">this.name</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 58</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">message</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Message</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 59</span> </span><span class="WHIT">      </span><span class="NAME">values</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">data</span><span class="WHIT">
<span class='line'> 60</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 61</span> </span><span class="WHIT">    </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="STRN">'message'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 62</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 63</span> 
<span class='line'> 64</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 65</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">subscribeId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'subscribe:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 66</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 67</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'subscribe'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 68</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">subscribeId</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 69</span> </span><span class="WHIT">    </span><span class="NAME">type</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.messageType</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 70</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 71</span> </span><span class="WHIT">    </span><span class="NAME">compression</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 72</span> </span><span class="WHIT">    </span><span class="NAME">throttle_rate</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.throttle_rate</span><span class="WHIT">
<span class='line'> 73</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 74</span> 
<span class='line'> 75</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 76</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 77</span> 
<span class='line'> 78</span> </span><span class="COMM">/**
<span class='line'> 79</span>  * Unregisters as a subscriber for the topic. Unsubscribing will remove
<span class='line'> 80</span>  * all subscribe callbacks.
<span class='line'> 81</span>  */</span><span class="WHIT">
<span class='line'> 82</span> </span><span class="NAME">ROSLIB.Topic.prototype.unsubscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 83</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.removeAllListeners</span><span class="PUNC">(</span><span class="PUNC">[</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">]</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 84</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 85</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">unsubscribeId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'unsubscribe:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 86</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 87</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'unsubscribe'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 88</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">unsubscribeId</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 89</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT">
<span class='line'> 90</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 91</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 92</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 93</span> 
<span class='line'> 94</span> </span><span class="COMM">/**
<span class='line'> 95</span>  * Registers as a publisher for the topic.
<span class='line'> 96</span>  */</span><span class="WHIT">
<span class='line'> 97</span> </span><span class="NAME">ROSLIB.Topic.prototype.advertise</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 98</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 99</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">advertiseId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'advertise:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>100</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>101</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'advertise'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>102</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">advertiseId</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>103</span> </span><span class="WHIT">    </span><span class="NAME">type</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.messageType</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>104</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT">
<span class='line'>105</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>106</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>107</span> </span><span class="WHIT">  </span><span class="NAME">this.isAdvertised</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>108</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>109</span> 
<span class='line'>110</span> </span><span class="COMM">/**
<span class='line'>111</span>  * Unregisters as a publisher for the topic.
<span class='line'>112</span>  */</span><span class="WHIT">
<span class='line'>113</span> </span><span class="NAME">ROSLIB.Topic.prototype.unadvertise</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>114</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>115</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">unadvertiseId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'unadvertise:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>116</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>117</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'unadvertise'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>118</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">unadvertiseId</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>119</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT">
<span class='line'>120</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>121</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>122</span> </span><span class="WHIT">  </span><span class="NAME">this.isAdvertised</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>123</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>124</span> 
<span class='line'>125</span> </span><span class="COMM">/**
<span class='line'>126</span>  * Publish the message.
<span class='line'>127</span>  *
<span class='line'>128</span>  * @param message - A ROSLIB.Message object.
<span class='line'>129</span>  */</span><span class="WHIT">
<span class='line'>130</span> </span><span class="NAME">ROSLIB.Topic.prototype.publish</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>131</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">this.isAdvertised</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>132</span> </span><span class="WHIT">    </span><span class="NAME">this.advertise</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>133</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>134</span> 
<span class='line'>135</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>136</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">publishId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'publish:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>137</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>138</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'publish'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>139</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">publishId</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>140</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>141</span> </span><span class="WHIT">    </span><span class="NAME">msg</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">message</span><span class="WHIT">
<span class='line'>142</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>143</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>144</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>145</span> </span></pre></body></html>